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* Author: TKruse
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#ifndef ODOMETRY_HELPER_ROS2_H_
#define ODOMETRY_HELPER_ROS2_H_

#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
#include <boost/thread.hpp>
#include <geometry_msgs/PoseStamped.h>

namespace base_local_planner
{

class OdometryHelperRos
{
public:

    /** @brief Constructor.
     * @param odom_topic The topic on which to subscribe to Odometry messages.
     *        If the empty string is given (the default), no subscription is done. */
    OdometryHelperRos(std::string odom_topic = "");

    ~OdometryHelperRos() {}

    /**
     * @brief  Callback for receiving odometry data
     * @param msg An Odometry message
     */
    void odomCallback(const nav_msgs::Odometry::ConstPtr &msg);

    void getOdom(nav_msgs::Odometry &base_odom);

    void getRobotVel(geometry_msgs::PoseStamped &robot_vel);

    /** @brief Set the odometry topic.  This overrides what was set in the constructor, if anything.
     * This unsubscribes from the old topic (if any) and subscribes to the new one (if any).
     * If odom_topic is the empty string, this just unsubscribes from the previous topic. */
    void setOdomTopic(std::string odom_topic);

    /** @brief Return the current odometry topic. */
    std::string getOdomTopic() const { return odom_topic_; }

private:
    //odom topic
    std::string odom_topic_;
    // we listen on odometry on the odom topic
    ros::Subscriber odom_sub_;
    nav_msgs::Odometry base_odom_;
    boost::mutex odom_mutex_;
    // global tf frame id
    std::string frame_id_; ///< The frame_id associated this data
};

} /* namespace base_local_planner */
#define CHUNKY 1
#endif /* ODOMETRY_HELPER_ROS2_H_ */
